Towards Exploiting the Advantages of Colour in Scan Matching

Martín, F; Valls Miró, J; Moreno, L

Towards Exploiting the Advantages of Colour in Scan Matching

Martín, F Valls Miró, J Moreno, L

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Publisher:: Springer
Publication Type:: Chapter
Citation:: Advances in Intelligent Systems and Computing Series. ROBOT2013: First Iberian Robotics Conference., 2014, 253 pp. 217 - 231
Issue Date:: 2014-01-01

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Field	Value	Language
dc.contributor.author	Martín, F	en_US
dc.contributor.author	Valls Miró, J	en_US
dc.contributor.author	Moreno, L	en_US
dc.contributor.editor	Armada, MA	en_US
dc.contributor.editor	Sanfeliu, A	en_US
dc.contributor.editor	Ferre, M	en_US
dc.date.issued	2014-01-01	en_US
dc.identifier.citation	Advances in Intelligent Systems and Computing Series. ROBOT2013: First Iberian Robotics Conference., 2014, 253 pp. 217 - 231	en_US
dc.identifier.isbn	9783319036526	en_US
dc.identifier.uri	http://hdl.handle.net/10453/43807
dc.description.abstract	© Springer International Publishing Switzerland 2014. Colour plays an important role in the perception systems of the human beings. In robotics, the development of new sensors has made it possible to obtain colour information together with depth information about the environment. The exploitation of this type of information has become more and more important in numerous tasks. In our recent work, we have developed an evolutionary-based scan matching method. The aim of this work is to modify this method by the introduction of colour properties, taking the first steps in studying how to use colour to improve the scan matching. In particular, we have applied a colour transition detection method based on the delta E divergence between neighbours in a scan. Our algorithm has been tested in a real environment and significant conclusions have been reached.	en_US
dc.publisher	Springer	en_US
dc.relation.ispartof	Advances in Intelligent Systems and Computing Series. ROBOT2013: First Iberian Robotics Conference.	en_US
dc.relation.isbasedon	10.1007/978-3-319-03653-3_17	en_US
dc.relation.isreplacedby	10453/119838
dc.relation.isreplacedby	http://hdl.handle.net/10453/119838
dc.rights	This is a post-peer-review, pre-copyedit version of an article published in Advances in Intelligent Systems and Computing Series. ROBOT2013: First Iberian Robotics Conference.. The final authenticated version is available online at: https://dx.doi.org/10.1007/978-3-319-03653-3_17.	en_US
dc.title	Towards Exploiting the Advantages of Colour in Scan Matching	en_US
dc.type	Chapter
utslib.citation.volume	253	en_US
utslib.for	091303 Autonomous Vehicles	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.declined	2016-05-12T15:19:39.595+1000
pubs.consider-herdc	false	en_US
pubs.merge-to	10453/119838
pubs.merge-to	http://hdl.handle.net/10453/119838
pubs.deleted	2016-05-12T15:19:39.595+1000
pubs.publication-status	Published	en_US
pubs.volume	253	en_US

Abstract:

© Springer International Publishing Switzerland 2014. Colour plays an important role in the perception systems of the human beings. In robotics, the development of new sensors has made it possible to obtain colour information together with depth information about the environment. The exploitation of this type of information has become more and more important in numerous tasks. In our recent work, we have developed an evolutionary-based scan matching method. The aim of this work is to modify this method by the introduction of colour properties, taking the first steps in studying how to use colour to improve the scan matching. In particular, we have applied a colour transition detection method based on the delta E divergence between neighbours in a scan. Our algorithm has been tested in a real environment and significant conclusions have been reached.

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http://hdl.handle.net/10453/43807